Long-endurance floating unmanned aerial vehicle capable of adjusting buoyancy based on load

Abstract

The invention relates to a long-endurance floating unmanned aerial vehicle capable of adjusting buoyancy based on load, and belongs to the technical field of unmanned aerial vehicles. In order to solve the problem that the cruising ability is weak when the unmanned aerial vehicle is loaded, the unmanned aerial vehicle mainly comprises a buoyancy cabin body used for being filled with mixed gas of air and light gas in a specific proportion; the power system comprises a plurality of unmanned aerial vehicle power units, and the unmanned aerial vehicle power units are all connected with the buoyancy cabin body; the loading platform is hung below the buoyancy cabin body through a lifting rope; the tension sensor is configured to obtain the tension on the lifting rope; the gas proportion adjusting system is used for adjusting the proportion of air and light gas in the buoyancy cabin body; and the controller is configured to determine the total load according to the tension value obtained by the tension sensor, and control the gas proportion adjusting system to adjust the gas proportion in the buoyancy cabin body based on the total load, so that the buoyancy provided by the buoyancy cabin body is balanced with the total load.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a long-endurance floating unmanned aerial vehicle based on load-adjusting buoyancy. Background Art

[0002] In the prior art, drones usually need to carry heavy objects, such as cargo, sensors, or other equipment, when performing missions. However, since drones need to overcome gravity to maintain stable flight during flight, this significantly increases their energy consumption, resulting in limited flight time, affecting the performance of drones in long-term, high-load missions. This problem has become an important bottleneck restricting the development of drone technology in actual use scenarios. Summary of the invention

[0003] In view of the above analysis, in order to solve the above problems, an embodiment of the present invention provides a long-endurance floating drone based on load-adjusted buoyancy, comprising:

[0004] Buoyancy chambers are used to be filled with a mixture of air and light gas in a specific ratio;

[0005] A power system, comprising a plurality of UAV power units, wherein the UAV power units are all connected to the buoyancy cabin;

[0006] A loading platform is suspended below the buoyancy compartment by a suspension rope;

[0007] A tension sensor configured to obtain the tension on the suspension rope;

[0008] A gas ratio regulating system, used for regulating the ratio of air and light gas in the buoyancy chamber;

[0009] The controller is configured to determine the total load according to the tension value obtained by the tension sensor, and control the gas ratio adjustment system to adjust the gas ratio in the buoyancy cabin based on the total load so that the buoyancy provided by the buoyancy cabin is balanced with the total load.

[0010] In some embodiments, the light gas includes helium.

[0011] In some embodiments, the buoyancy compartment is spherical in shape.

[0012] In some embodiments, the drone power unit is located on the equator of the sphere.

[0013] In some embodiments, the UAV power unit includes a rotor, a motor and a frame, the motor is disposed in the frame, the frame is connected to the buoyancy chamber, and the output shaft of the motor is connected to the rotor.

[0014] In some embodiments, a protection hole is provided on the frame, and the rotor is arranged in the protection hole.

[0015] In some embodiments, the frames of the plurality of UAV power units are connected as a whole via a fixing ring, and the fixing ring is arranged on the equator of the buoyancy chamber.

[0016] In some embodiments, the gas ratio regulation system comprises:

[0017] A light gas storage tank connected to the interior of the buoyancy chamber through a gas flow valve;

[0018] An exhaust valve, provided on the buoyancy chamber, for exhausting excess gas in the buoyancy chamber;

[0019] The pressure sensor is used to detect the air pressure inside the buoyancy chamber.

[0020] In some embodiments, the gas ratio regulation system further comprises:

[0021] A flexible diaphragm is arranged inside the buoyancy chamber and is used to separate the buoyancy chamber into a first cavity and a second cavity. The first cavity is connected to the gas flow valve, the second cavity is connected to the exhaust valve, and the pressure sensor is located in the second cavity.

[0022] In some embodiments, the controlling the gas ratio adjustment system to adjust the gas ratio in the buoyancy compartment based on the total load includes:

[0023] Calculate the buoyancy provided by each cubic meter of light gas, expressed as:

[0024] F 浮 =(ρ1-ρ2)*g, where F 浮 represents the buoyancy provided by each cubic meter of light gas, ρ1 represents the air density, ρ2 represents the light gas density, and g represents the gravitational acceleration;

[0025] The volume of light gas required to balance the total load is calculated and the calculation formula is expressed as:

[0026] V=W / F 浮 , where V represents the required light gas volume and W represents the total load;

[0027] The gas ratio is calculated based on the light gas volume and is expressed as:

[0028] P=V / V 舱 , where P represents the gas ratio and V represents the volume of the buoyancy compartment.

[0029] The above embodiments of the present invention have at least the following beneficial effects:

[0030] The embodiment of the present invention combines a power system formed by a power unit of the UAV with a buoyancy cabin, wherein the power system provides thrust for flight movement, the buoyancy cabin assists in providing lift, and the load is detected and calculated by a tension sensor. Then, a gas ratio adjustment system is used to enable the buoyancy cabin to provide balanced buoyancy, thereby reducing the work done by the power system to overcome gravity, thereby improving the endurance of the UAV under load conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this specification. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0032] Figure 1 A schematic diagram of the architecture of a long-endurance floating drone based on load-adjusted buoyancy provided by an embodiment of the present invention;

[0033] Figure 2 It is a schematic structural diagram of the buoyancy cabin and power system of an embodiment of the present invention.

[0034] Reference numerals:

[0035] 1. Buoyancy cabin; 11. First cavity; 12. Second cavity; 13. Flexible diaphragm; 2. UAV power unit; 21. Frame; 211. Protection hole; 22. Rotor; 3. Tension sensor; 4. Gas ratio adjustment system; 41. Light gas storage tank; 42. Exhaust valve; 43. Pressure sensor; 44. Gas flow valve; 5. Controller; 6. Loading platform. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments disclosed in this disclosure can be combined, separated, interchanged and / or rearranged with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0038] The present disclosure is described below through several specific embodiments. In order to keep the following description of the embodiments of the present invention clear and concise, the present invention omits the detailed description of known functions and known components. Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a long-endurance floating drone based on load-adjusted buoyancy, comprising:

[0039] The buoyancy chamber 1 is used to be filled with a mixture of air and light gas in a specific ratio;

[0040] A power system, comprising a plurality of UAV power units 2, each of which is connected to the buoyancy cabin 1;

[0041] A loading platform 6 is suspended below the buoyancy chamber 1 by a suspension rope;

[0042] A tension sensor 3 is configured to obtain the tension on the suspension rope;

[0043] A gas ratio adjustment system 4, used for adjusting the ratio of air and light gas in the buoyancy chamber 1;

[0044] In some embodiments, the gas ratio adjustment system 4 includes:

[0045] A light gas storage tank 41 is connected to the interior of the buoyancy chamber 1 through a gas flow valve 44;

[0046] An exhaust valve 42, provided on the buoyancy chamber 1, for exhausting excess gas in the buoyancy chamber 1;

[0047] The pressure sensor 43 is used to detect the air pressure inside the buoyancy chamber 1 .

[0048] The controller 5 is configured to determine the total load according to the tension value obtained by the tension sensor 3, and control the gas ratio adjustment system 4 to adjust the gas ratio in the buoyancy cabin 1 based on the total load so that the buoyancy provided by the buoyancy cabin 1 is balanced with the total load.

[0049] Specifically, when adjusting the gas ratio, the required volume of light gas can be calculated based on the load, and then the gas flow valve 44 is controlled to open to input a specific volume of light gas into the buoyancy chamber 1. At the same time, the exhaust valve 42 is opened to discharge the gas originally inside the buoyancy chamber 1 until the light gas input is completed and the internal air pressure of the buoyancy chamber 1 obtained by the pressure sensor 43 returns to the level before the gas ratio is adjusted, thereby completing this ratio adjustment.

[0050] It should be understood that due to the diffusion of gas, light gas may be discharged at the same time as it is input, resulting in inaccurate ratio adjustment. Although the buoyancy and gravity balance is not completely achieved, the result is at least very close to the target ratio. This precision is an operational error and is acceptable, and it can still greatly increase the endurance of the drone. On the other hand, the exhaust valve 42 can be set at the bottom of the buoyancy cabin 1 to reduce the discharge of light gas and reduce the error.

[0051] In some embodiments, the gas ratio adjustment system 4 is controlled based on the total load to adjust the gas ratio in the buoyancy compartment 1, including:

[0052] Calculate the buoyancy provided by each cubic meter of light gas, expressed as:

[0053] Fbuoy = (ρ1-ρ2)*g, where Fbuoy represents the buoyancy provided by each cubic meter of light gas, ρ1 represents the air density, ρ2 represents the light gas density, and g represents the gravitational acceleration;

[0054] The volume of light gas required to balance the total load is calculated and the calculation formula is expressed as:

[0055] V = W / F float, where V represents the required light gas volume and W represents the total load;

[0056] The gas ratio is calculated based on the light gas volume and is expressed as:

[0057] P=V / Vtank, where P represents the gas ratio and Vtank represents the volume of the buoyancy tank 1 .

[0058] A loading platform 6 that can carry the required equipment and various loads is provided below the buoyancy cabin 1 of the embodiment of the present invention, and the platform adopts a modular design, and the equipment configuration can be quickly replaced and adjusted according to the mission requirements. The gas ratio adjustment system 4 ensures that the UAV can maintain stable flight under different loads by adjusting the ratio of light gas to air. In order to cope with emergencies, the UAV is equipped with a redundant propulsion system and an emergency thrust enhancement mode to ensure that it can still return safely when the high-altitude cabin is damaged and leaking and the self-repair fails. Preferably, the propeller power system is designed as a redundant system to ensure that sufficient thrust and control torque can still be provided when some propellers fail. When the high-altitude cabin is damaged and leaking and the self-repair fails, the system will automatically start the emergency thrust enhancement mode to ensure that the UAV can return safely.

[0059] Preferably, in some embodiments, the drone carries the required camera, monitoring equipment and other loads on the loading platform 6. The loading platform 6 is made of lightweight materials, such as carbon fiber or aluminum alloy, to reduce the total weight. The equipment is mounted on the platform through shock absorption and fixing devices to ensure its stable operation during flight. The loading platform adopts a modular design, and the equipment configuration can be quickly replaced and adjusted according to the mission requirements to meet different application scenarios.

[0060] The drone is also equipped with an advanced flight control system, including sensors such as GPS positioning, inertial navigation and barometric altimeter, to achieve precise flight control and stable hovering. The control system is connected to the ground station via wireless communication, through which the operator can monitor the status of the drone in real time and issue control commands.

[0061] Preferably, in some embodiments, the gas ratio adjustment system 4 further includes:

[0062] A flexible diaphragm 13 is disposed inside the buoyancy chamber 1 and is used to separate the buoyancy chamber 1 into a first cavity 11 and a second cavity 12. The first cavity 11 is connected to the gas flow valve 44, and the second cavity 12 is connected to the exhaust valve 42. The pressure sensor 43 is located in the second cavity 12.

[0063] It should be understood that the flexible diaphragm 13 itself does not apply pressure to the first cavity or the second cavity, that is, even if the first cavity or the second cavity is filled to a certain extent, the flexible diaphragm 13 will not be elastically deformed. The flexible diaphragm 13 can prevent the light gas from being discharged through the exhaust valve 42 when adjusting the gas ratio, and does not affect the discharge of excess gas in the second cavity through air pressure control, thereby increasing the accuracy of gas ratio adjustment.

[0064] In some embodiments, the light gas includes helium.

[0065] In some embodiments, the buoyancy compartment 1 is spherical in shape.

[0066] In some embodiments, the drone power unit 2 is disposed on the equator of the sphere.

[0067] In some embodiments, the UAV power unit 2 includes a rotor 22, a motor and a frame 21, the motor is disposed in the frame 21, the frame 21 is connected to the buoyancy chamber 1, and the output shaft of the motor is connected to the rotor 22.

[0068] In some embodiments, a protection hole 211 is provided on the frame 21 , and the rotor 22 is disposed in the protection hole 211 .

[0069] In some embodiments, the frames 21 of the plurality of UAV power units 2 are connected as a whole via a fixing ring, and the fixing ring is arranged on the equator of the buoyancy cabin 1 .

[0070] The drone provided by the embodiment of the present invention can be widely used in the fields of long-term monitoring, environmental data collection, aerial photography, etc. For example: Environmental monitoring: Use the sensors carried by the drone to monitor air quality and meteorological data in real time. Agricultural applications: Monitor large areas of farmland, collect crop growth data, and assist agricultural decision-making. Disaster relief: Conduct on-site investigations after a disaster occurs, provide real-time images and data, and assist rescue operations. Scientific research exploration: Collect and conduct scientific data in the wild or in hard-to-reach areas.

[0071] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0072] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0073] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A long-endurance floating drone based on load-adjusted buoyancy, characterized in that: include: Buoyancy chambers are used to be filled with a mixture of air and light gas in a specific ratio; A power system, comprising a plurality of UAV power units, wherein the UAV power units are all connected to the buoyancy cabin; A loading platform is suspended below the buoyancy compartment by a suspension rope; A tension sensor configured to obtain the tension on the suspension rope; A gas ratio regulating system, used for regulating the ratio of air and light gas in the buoyancy chamber; The controller is configured to determine the total load according to the tension value obtained by the tension sensor, and control the gas ratio adjustment system to adjust the gas ratio in the buoyancy cabin based on the total load so that the buoyancy provided by the buoyancy cabin is balanced with the total load.

2. The long-endurance floating drone based on load-adjusted buoyancy according to claim 1, characterized in that: The light gas includes helium.

3. The long-endurance floating drone based on load-adjusted buoyancy according to claim 1, characterized in that: The buoyancy cabin is spherical in shape.

4. The long-endurance floating drone based on load-adjusted buoyancy according to claim 3 is characterized by: The UAV power unit is arranged on the equator of the sphere.

5. The long-endurance floating drone based on load-adjusted buoyancy according to claim 1, characterized in that: The UAV power unit comprises a rotor, a motor and a frame, wherein the motor is arranged in the frame, the frame is connected to the buoyancy cabin, and the output shaft of the motor is connected to the rotor.

6. The long-endurance floating drone based on load-adjusted buoyancy according to claim 5, characterized in that: The frame is provided with a protection hole, and the rotor is arranged in the protection hole.

7. The long-endurance floating drone based on load-adjusted buoyancy according to claim 5, characterized in that: The frames of the plurality of UAV power units are connected as a whole via a fixing ring, and the fixing ring is sleeved on the equator of the buoyancy cabin.

8. The long-endurance floating drone based on load-adjusted buoyancy according to claim 1, characterized in that: The gas ratio regulating system comprises: A light gas storage tank connected to the interior of the buoyancy chamber through a gas flow valve; An exhaust valve, provided on the buoyancy chamber, for exhausting excess gas in the buoyancy chamber; The pressure sensor is used to detect the air pressure inside the buoyancy chamber.

9. The long-endurance floating drone based on load-adjusted buoyancy according to claim 8, characterized in that: The gas ratio regulating system further comprises: A flexible diaphragm is arranged inside the buoyancy chamber and is used to separate the buoyancy chamber into a first cavity and a second cavity. The first cavity is connected to the gas flow valve, the second cavity is connected to the exhaust valve, and the pressure sensor is located in the second cavity.

10. The long-endurance floating drone based on load-adjusted buoyancy according to claim 7, characterized in that: The controlling the gas ratio adjustment system to adjust the gas ratio in the buoyancy cabin based on the total load includes: Calculate the buoyancy provided by each cubic meter of light gas, expressed as: F 浮 =(ρ1-ρ2)*g, where F 浮 represents the buoyancy provided by each cubic meter of light gas, ρ1 represents the air density, ρ2 represents the light gas density, and g represents the gravitational acceleration; The volume of light gas required to balance the total load is calculated and the calculation formula is expressed as: V=W / F 浮 , where V represents the required light gas volume and W represents the total load; The gas ratio is calculated based on the light gas volume and is expressed as: P=V / V 舱 , where P represents the gas ratio and V represents the volume of the buoyancy compartment.

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